mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-08 19:17:45 +08:00
Loading time optimization (#1569)
* On init, rebuild the dictionnary only once * Fixed first dictionary update to avoid rebuilding multiple times. Commented some very verbose debug logs (should create a new level: UVERBOSE or UTRACE) * bump version 0.23: added parameters "Mem/LoadVisualLocalFeaturesOnInit", "Mem/FlannIndexSaved", "Kp/SerializeWithChecksum". * Renamed Mem/FlannIndexSaved to Kp/FlannIndexSaved. Update UI Preferences with new parameters. * commented some very verbose debug logs * Warn flann index serialization not implemented on windows * Warn flann index deserialization not implemented on windows * Removing some verbose logs * missing header (win32) * Added GlobalMap::fullUpdateNeeded() function * Adding log * Save flann index even if links changed * log time to serialize flann index * Make dictionary modified only after we update --------- Co-authored-by: Mathieu Labbe <[email protected]>
This commit is contained in:
matlabbe
co-authored by
Mathieu Labbe
Mathieu Labbe
parent
349580299c
commit
4603f09389
@@ -129,6 +129,7 @@ public:
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std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
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#endif
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cv::Mat * textures = 0) const;
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void saveFlannIndex(const std::vector<unsigned char> & indexData) const;
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public:
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// Mutex-protected methods of abstract versions below
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@@ -161,19 +162,20 @@ public:
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void executeNoResult(const std::string & sql) const;
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// Load objects
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void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
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void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
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void load(VWDictionary & dictionary, bool lastStateOnly = true) const;
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void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
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Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
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void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
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void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
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void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
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// Specific queries...
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void loadNodeData(Signature * signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
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bool getLaserScanInfo(int signatureId, LaserScan & info) const;
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bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
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void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
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void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
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void getWeight(int signatureId, int & weight) const;
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void getLastNodeIds(std::set<int> & ids) const;
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@@ -274,11 +276,12 @@ protected:
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std::vector<std::vector<Eigen::Vector2f> > * texCoords,
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#endif
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cv::Mat * textures) const = 0;
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virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
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// Load objects
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virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const = 0;
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virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;
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virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const = 0;
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virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const = 0;
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virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
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virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
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virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
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virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
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@@ -286,6 +289,7 @@ protected:
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virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;
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virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
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virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
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virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = 0;
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virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
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virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
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virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const = 0;
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@@ -135,10 +135,12 @@ protected:
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#endif
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cv::Mat * textures) const;
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virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const;
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// Load objects
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virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const;
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virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
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virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
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virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const;
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virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
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virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
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virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
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virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
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@@ -146,6 +148,7 @@ protected:
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virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
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virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
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virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
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virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
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virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
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virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;
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virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const;
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@@ -190,6 +193,8 @@ private:
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const cv::Point3f & viewpoint) const;
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private:
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void loadWordsQuery(std::list<Signature *> & signatures) const;
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void loadWordIdsQuery(std::list<Signature *> & signatures) const;
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void loadLinksQuery(std::list<Signature *> & signatures) const;
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int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
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@@ -37,37 +37,48 @@ namespace rtabmap {
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class RTABMAP_CORE_EXPORT FlannIndex
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{
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public:
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// A forward of the internal enum, indexes should match. See src/rtflann/defines.h
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enum flann_algorithm_t
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{
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FLANN_INDEX_LINEAR = 0,
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FLANN_INDEX_KDTREE = 1,
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FLANN_INDEX_KDTREE_SINGLE = 4,
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FLANN_INDEX_LSH = 6,
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};
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FlannIndex();
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virtual ~FlannIndex();
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void release();
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std::vector<unsigned char> serializeIndex(bool computeChecksum = true) const;
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size_t indexedFeatures() const;
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// return Bytes
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size_t memoryUsed() const;
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// Note that useDistanceL1 doesn't have any effect if LSH is used
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void buildLinearIndex(
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void buildIndex(
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flann_algorithm_t algorithm,
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const cv::Mat & features,
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bool useDistanceL1 = false,
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float rebalancingFactor = 2.0f);
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void buildKDTreeIndex(
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const cv::Mat & features,
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int trees = 4,
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bool useDistanceL1 = false,
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float rebalancingFactor = 2.0f);
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void buildKDTreeSingleIndex(
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const cv::Mat & features,
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int leafMaxSize = 10,
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bool reorder = true,
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bool useDistanceL1 = false,
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float rebalancingFactor = 2.0f);
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void buildLSHIndex(
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const cv::Mat & features,
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unsigned int table_number = 12,
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unsigned int key_size = 20,
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unsigned int multi_probe_level = 2,
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float rebalancingFactor = 2.0f);
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// Return false if the indexData doesn't correspond to expected features used and parameters.
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bool loadIndex(
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const std::vector<unsigned char> & indexData,
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flann_algorithm_t algorithm,
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const cv::Mat & features,
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bool useDistanceL1 = false,
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float rebalancingFactor = 2.0f,
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std::string * errorMsg = NULL);
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bool loadIndex(
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const unsigned char * indexData,
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size_t indexDataSize,
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flann_algorithm_t algorithm,
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const cv::Mat & features,
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bool useDistanceL1 = false,
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float rebalancingFactor = 2.0f,
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std::string * errorMsg = NULL);
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bool isBuilt();
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@@ -104,9 +115,9 @@ private:
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unsigned int nextIndex_;
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int featuresType_;
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int featuresDim_;
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bool isLSH_;
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bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
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float rebalancingFactor_;
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flann_algorithm_t algorithm_;
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// keep feature in memory until the tree is rebuilt
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// (in case the word is deleted when removed from the VWDictionary)
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@@ -53,6 +53,7 @@ public:
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public:
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virtual ~GlobalMap();
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bool fullUpdateNeeded(const std::map<int, Transform> & poses) const;
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bool update(const std::map<int, Transform> & poses); // return true if map has changed
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virtual void clear();
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@@ -264,6 +264,7 @@ private:
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void addSignatureToStm(Signature * signature, const cv::Mat & covariance);
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void clear();
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void loadDataFromDb(bool postInitClosingEvents);
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void saveFlannIndex(bool postInitClosingEvents);
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void moveToTrash(Signature * s, bool keepLinkedToGraph = true, std::list<int> * deletedWords = 0);
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void moveSignatureToWMFromSTM(int id, int * reducedTo = 0);
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@@ -299,6 +300,7 @@ private:
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float _similarityThreshold;
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bool _binDataKept;
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bool _rawDescriptorsKept;
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bool _loadVisualLocalFeaturesOnInit;
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bool _saveDepth16Format;
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bool _notLinkedNodesKeptInDb;
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bool _saveIntermediateNodeData;
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@@ -306,6 +308,7 @@ private:
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std::string _depthCompressionFormat;
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bool _incrementalMemory;
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bool _localizationDataSaved;
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bool _flannIndexSaved;
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bool _reduceGraph;
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int _maxStMemSize;
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float _recentWmRatio;
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@@ -204,6 +204,7 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
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RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
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RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
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RTABMAP_PARAM(Mem, LoadVisualLocalFeaturesOnInit, bool, true, "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.");
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RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID.");
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RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
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RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
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@@ -260,6 +261,8 @@ class RTABMAP_CORE_EXPORT Parameters
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RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
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RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
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RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
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RTABMAP_PARAM(Kp, FlannIndexSaved, bool, false, uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session.", kMemIncrementalMemory().c_str()).c_str());
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RTABMAP_PARAM(Kp, SerializeWithChecksum, bool, true, "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
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RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
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RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
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RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
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@@ -107,7 +107,11 @@ public:
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bool isIncrementalFlann() const {return _incrementalFlann;}
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void setIncrementalDictionary();
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void setFixedDictionary(const std::string & dictionaryPath);
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bool isModified() const;
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std::vector<unsigned char> serializeIndex() const;
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void deserializeIndex(const std::vector<unsigned char> & data);
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void deserializeIndex(const unsigned char * data, size_t size);
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void exportDictionary(const char * fileNameReferences, const char * fileNameDescriptors) const;
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void clear(bool printWarningsIfNotEmpty = true);
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@@ -137,10 +141,12 @@ private:
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std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
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std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
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bool _newWordsComparedTogether;
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bool _serializeWithChecksum;
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int _lastWordId;
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bool useDistanceL1_;
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FlannIndex * _flannIndex;
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cv::Mat _dataTree;
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bool _modified;
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NNStrategy _strategy;
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std::map<int ,int> _mapIndexId;
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std::map<int ,int> _mapIdIndex;
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